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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
40 | // + with our written permission |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
| 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 44 | // |
44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | 57 | ||
| 58 | #include <string.h> |
58 | #include <string.h> |
| 59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
| 60 | #include "waypoints.h" |
60 | #include "waypoints.h" |
| 61 | #include "uart1.h" |
61 | #include "uart1.h" |
| 62 | 62 | ||
| 63 | // the waypoints list |
63 | // the waypoints list |
| 64 | #define MAX_LIST_LEN 31 |
64 | #define MAX_LIST_LEN 31 |
| 65 | 65 | ||
| 66 | Point_t PointList[MAX_LIST_LEN]; |
66 | Point_t PointList[MAX_LIST_LEN]; |
| 67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
67 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
| 68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
68 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
| 69 | u8 WPCount = 0; // number of waypoints |
69 | u8 WPCount = 0; // number of waypoints |
| 70 | u8 PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
70 | u8 PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
| 71 | u8 POICount = 0; |
71 | u8 POICount = 0; |
| 72 | 72 | ||
| 73 | u8 WPActive = TRUE; |
73 | u8 WPActive = TRUE; |
| 74 | 74 | ||
| 75 | u8 PointList_Init(void) |
75 | u8 PointList_Init(void) |
| 76 | { |
76 | { |
| 77 | return PointList_Clear(); |
77 | return PointList_Clear(); |
| 78 | } |
78 | } |
| 79 | 79 | ||
| 80 | u8 PointList_Clear(void) |
80 | u8 PointList_Clear(void) |
| 81 | { |
81 | { |
| 82 | u8 i; |
82 | u8 i; |
| 83 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
83 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
| 84 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
84 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
| 85 | WPCount = 0; // no waypoints |
85 | WPCount = 0; // no waypoints |
| 86 | POICount = 0; |
86 | POICount = 0; |
| 87 | PointCount = 0; // no contents |
87 | PointCount = 0; // no contents |
| 88 | WPActive = TRUE; |
88 | WPActive = TRUE; |
| 89 | NaviData.WaypointNumber = WPCount; |
89 | NaviData.WaypointNumber = WPCount; |
| 90 | NaviData.WaypointIndex = 0; |
90 | NaviData.WaypointIndex = 0; |
| 91 | 91 | ||
| 92 | for(i = 0; i < MAX_LIST_LEN; i++) |
92 | for(i = 0; i < MAX_LIST_LEN; i++) |
| 93 | { |
93 | { |
| 94 | PointList[i].Position.Status = INVALID; |
94 | PointList[i].Position.Status = INVALID; |
| 95 | PointList[i].Position.Latitude = 0; |
95 | PointList[i].Position.Latitude = 0; |
| 96 | PointList[i].Position.Longitude = 0; |
96 | PointList[i].Position.Longitude = 0; |
| 97 | PointList[i].Position.Altitude = 0; |
97 | PointList[i].Position.Altitude = 0; |
| 98 | PointList[i].Heading = 361; // invalid value |
98 | PointList[i].Heading = 361; // invalid value |
| 99 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
99 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
| 100 | PointList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
100 | PointList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
| 101 | PointList[i].Event_Flag = 0; // future implementation |
- | |
| 102 | PointList[i].Type = POINT_TYPE_INVALID; |
101 | PointList[i].Type = POINT_TYPE_INVALID; |
| - | 102 | PointList[i].Event_Flag = 0; // future implementation |
|
| - | 103 | PointList[i].AltitudeRate = 0; // no change of setpoint |
|
| 103 | } |
104 | } |
| 104 | return TRUE; |
105 | return TRUE; |
| 105 | } |
106 | } |
| 106 | 107 | ||
| 107 | u8 PointList_GetCount(void) |
108 | u8 PointList_GetCount(void) |
| 108 | { |
109 | { |
| 109 | return PointCount; // number of points in the list |
110 | return PointCount; // number of points in the list |
| 110 | } |
111 | } |
| 111 | 112 | ||
| 112 | u8 PointList_Append(Point_t* pPoint) |
113 | u8 PointList_Append(Point_t* pPoint) |
| 113 | { |
114 | { |
| 114 | if((PointCount < MAX_LIST_LEN) && (pPoint->Index == (PointCount + 1)) ) // there is still some space in the list and index points to next |
115 | if((PointCount < MAX_LIST_LEN) && (pPoint->Index == (PointCount + 1)) ) // there is still some space in the list and index points to next |
| 115 | { |
116 | { |
| 116 | memcpy(&PointList[PointCount], pPoint, sizeof(Point_t)); // copy data to list entry // increment list length |
117 | memcpy(&PointList[PointCount], pPoint, sizeof(Point_t)); // copy data to list entry // increment list length |
| 117 | if(PointList[PointCount].Type == POINT_TYPE_WP) WPCount++; |
118 | if(PointList[PointCount].Type == POINT_TYPE_WP) WPCount++; |
| 118 | if(PointList[PointCount].Type == POINT_TYPE_POI) POICount++; |
119 | if(PointList[PointCount].Type == POINT_TYPE_POI) POICount++; |
| 119 | NaviData.WaypointNumber = WPCount; |
120 | NaviData.WaypointNumber = WPCount; |
| 120 | PointCount++; |
121 | PointCount++; |
| 121 | if(PointCount == 1) // only for the first entry |
122 | if(PointCount == 1) // only for the first entry |
| 122 | { |
123 | { |
| 123 | // update POI index |
124 | // update POI index |
| 124 | switch(PointList[WPIndex-1].Type) |
125 | switch(PointList[WPIndex-1].Type) |
| 125 | { |
126 | { |
| 126 | case POINT_TYPE_WP: |
127 | case POINT_TYPE_WP: |
| 127 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
128 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 128 | else POIIndex = 0; |
129 | else POIIndex = 0; |
| 129 | break; |
130 | break; |
| 130 | 131 | ||
| 131 | case POINT_TYPE_POI: |
132 | case POINT_TYPE_POI: |
| 132 | POIIndex = 1; |
133 | POIIndex = 1; |
| 133 | POICount = 1; |
134 | POICount = 1; |
| 134 | break; |
135 | break; |
| 135 | 136 | ||
| 136 | default: |
137 | default: |
| 137 | POIIndex = 0; |
138 | POIIndex = 0; |
| 138 | break; |
139 | break; |
| 139 | } |
140 | } |
| 140 | } |
141 | } |
| 141 | return TRUE; |
142 | return TRUE; |
| 142 | } |
143 | } |
| 143 | else return FALSE; |
144 | else return FALSE; |
| 144 | } |
145 | } |
| 145 | 146 | ||
| 146 | // returns the pointer to the first waypoint within the list |
147 | // returns the pointer to the first waypoint within the list |
| 147 | Point_t* PointList_WPBegin(void) |
148 | Point_t* PointList_WPBegin(void) |
| 148 | { |
149 | { |
| 149 | u8 i; |
150 | u8 i; |
| 150 | WPIndex = 0; // set list position invalid |
151 | WPIndex = 0; // set list position invalid |
| 151 | if(WPActive == FALSE) return(NULL); |
152 | if(WPActive == FALSE) return(NULL); |
| 152 | POIIndex = 0; // set invalid POI |
153 | POIIndex = 0; // set invalid POI |
| 153 | if(PointCount > 0) |
154 | if(PointCount > 0) |
| 154 | { |
155 | { |
| 155 | // search for first wp in list |
156 | // search for first wp in list |
| 156 | for(i = 0; i <PointCount; i++) |
157 | for(i = 0; i <PointCount; i++) |
| 157 | { |
158 | { |
| 158 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
159 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
| 159 | { |
160 | { |
| 160 | WPIndex = i + 1; |
161 | WPIndex = i + 1; |
| 161 | break; |
162 | break; |
| 162 | } |
163 | } |
| 163 | } |
164 | } |
| 164 | if(WPIndex) // found a WP in the list |
165 | if(WPIndex) // found a WP in the list |
| 165 | { |
166 | { |
| 166 | NaviData.WaypointIndex = 1; |
167 | NaviData.WaypointIndex = 1; |
| 167 | // update index to POI |
168 | // update index to POI |
| 168 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
169 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 169 | else POIIndex = 0; |
170 | else POIIndex = 0; |
| 170 | return(&(PointList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
171 | return(&(PointList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list |
| 171 | } |
172 | } |
| 172 | else // some points in the list but no WP found |
173 | else // some points in the list but no WP found |
| 173 | { |
174 | { |
| 174 | NaviData.WaypointIndex = 0; |
175 | NaviData.WaypointIndex = 0; |
| 175 | //Check for an existing POI |
176 | //Check for an existing POI |
| 176 | for(i = 0; i < PointCount; i++) |
177 | for(i = 0; i < PointCount; i++) |
| 177 | { |
178 | { |
| 178 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
179 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
| 179 | { |
180 | { |
| 180 | POIIndex = i + 1; |
181 | POIIndex = i + 1; |
| 181 | break; |
182 | break; |
| 182 | } |
183 | } |
| 183 | } |
184 | } |
| 184 | return NULL; |
185 | return NULL; |
| 185 | } |
186 | } |
| 186 | } |
187 | } |
| 187 | else // no point in the list |
188 | else // no point in the list |
| 188 | { |
189 | { |
| 189 | POIIndex = 0; |
190 | POIIndex = 0; |
| 190 | NaviData.WaypointIndex = 0; |
191 | NaviData.WaypointIndex = 0; |
| 191 | return NULL; |
192 | return NULL; |
| 192 | } |
193 | } |
| 193 | } |
194 | } |
| 194 | 195 | ||
| 195 | // returns the last waypoint |
196 | // returns the last waypoint |
| 196 | Point_t* PointList_WPEnd(void) |
197 | Point_t* PointList_WPEnd(void) |
| 197 | { |
198 | { |
| 198 | 199 | ||
| 199 | u8 i; |
200 | u8 i; |
| 200 | WPIndex = 0; // set list position invalid |
201 | WPIndex = 0; // set list position invalid |
| 201 | POIIndex = 0; // set invalid |
202 | POIIndex = 0; // set invalid |
| 202 | 203 | ||
| 203 | if(WPActive == FALSE) return(NULL); |
204 | if(WPActive == FALSE) return(NULL); |
| 204 | 205 | ||
| 205 | if(PointCount > 0) |
206 | if(PointCount > 0) |
| 206 | { |
207 | { |
| 207 | // search backward! |
208 | // search backward! |
| 208 | for(i = 1; i <= PointCount; i++) |
209 | for(i = 1; i <= PointCount; i++) |
| 209 | { |
210 | { |
| 210 | if((PointList[PointCount - i].Type == POINT_TYPE_WP) && (PointList[PointCount - i].Position.Status != INVALID)) |
211 | if((PointList[PointCount - i].Type == POINT_TYPE_WP) && (PointList[PointCount - i].Position.Status != INVALID)) |
| 211 | { |
212 | { |
| 212 | WPIndex = PointCount - i + 1; |
213 | WPIndex = PointCount - i + 1; |
| 213 | break; |
214 | break; |
| 214 | } |
215 | } |
| 215 | } |
216 | } |
| 216 | if(WPIndex) // found a WP within the list |
217 | if(WPIndex) // found a WP within the list |
| 217 | { |
218 | { |
| 218 | NaviData.WaypointIndex = WPCount; |
219 | NaviData.WaypointIndex = WPCount; |
| 219 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
220 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 220 | else POIIndex = 0; |
221 | else POIIndex = 0; |
| 221 | return(&(PointList[WPIndex-1])); |
222 | return(&(PointList[WPIndex-1])); |
| 222 | } |
223 | } |
| 223 | else // list contains some points but no WP in the list |
224 | else // list contains some points but no WP in the list |
| 224 | { |
225 | { |
| 225 | // search backward for a POI! |
226 | // search backward for a POI! |
| 226 | for(i = 1; i <= PointCount; i++) |
227 | for(i = 1; i <= PointCount; i++) |
| 227 | { |
228 | { |
| 228 | if((PointList[PointCount - i].Type == POINT_TYPE_POI) && (PointList[PointCount - i].Position.Status != INVALID)) |
229 | if((PointList[PointCount - i].Type == POINT_TYPE_POI) && (PointList[PointCount - i].Position.Status != INVALID)) |
| 229 | { |
230 | { |
| 230 | POIIndex = PointCount - i + 1; |
231 | POIIndex = PointCount - i + 1; |
| 231 | break; |
232 | break; |
| 232 | } |
233 | } |
| 233 | } |
234 | } |
| 234 | NaviData.WaypointIndex = 0; |
235 | NaviData.WaypointIndex = 0; |
| 235 | return NULL; |
236 | return NULL; |
| 236 | } |
237 | } |
| 237 | } |
238 | } |
| 238 | else // no point in the list |
239 | else // no point in the list |
| 239 | { |
240 | { |
| 240 | POIIndex = 0; |
241 | POIIndex = 0; |
| 241 | NaviData.WaypointIndex = 0; |
242 | NaviData.WaypointIndex = 0; |
| 242 | return NULL; |
243 | return NULL; |
| 243 | } |
244 | } |
| 244 | } |
245 | } |
| 245 | 246 | ||
| 246 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
247 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| 247 | Point_t* PointList_WPNext(void) |
248 | Point_t* PointList_WPNext(void) |
| 248 | { |
249 | { |
| 249 | u8 wp_found = 0; |
250 | u8 wp_found = 0; |
| 250 | if(WPActive == FALSE) return(NULL); |
251 | if(WPActive == FALSE) return(NULL); |
| 251 | 252 | ||
| 252 | if(WPIndex < PointCount) // if there is a next entry in the list |
253 | if(WPIndex < PointCount) // if there is a next entry in the list |
| 253 | { |
254 | { |
| 254 | u8 i; |
255 | u8 i; |
| 255 | for(i = WPIndex; i < PointCount; i++) // start search for next at next list entry |
256 | for(i = WPIndex; i < PointCount; i++) // start search for next at next list entry |
| 256 | { |
257 | { |
| 257 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
258 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
| 258 | { |
259 | { |
| 259 | wp_found = i+1; |
260 | wp_found = i+1; |
| 260 | break; |
261 | break; |
| 261 | } |
262 | } |
| 262 | } |
263 | } |
| 263 | } |
264 | } |
| 264 | if(wp_found) |
265 | if(wp_found) |
| 265 | { |
266 | { |
| 266 | WPIndex = wp_found; // update list position |
267 | WPIndex = wp_found; // update list position |
| 267 | NaviData.WaypointIndex++; |
268 | NaviData.WaypointIndex++; |
| 268 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
269 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
| 269 | else POIIndex = 0; |
270 | else POIIndex = 0; |
| 270 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
271 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
| 271 | } |
272 | } |
| 272 | else |
273 | else |
| 273 | { // no next wp found |
274 | { // no next wp found |
| 274 | NaviData.WaypointIndex = 0; |
275 | NaviData.WaypointIndex = 0; |
| 275 | POIIndex = 0; |
276 | POIIndex = 0; |
| 276 | return(NULL); |
277 | return(NULL); |
| 277 | } |
278 | } |
| 278 | } |
279 | } |
| 279 | 280 | ||
| 280 | void PointList_WPActive(u8 set) |
281 | void PointList_WPActive(u8 set) |
| 281 | { |
282 | { |
| 282 | if(set) WPActive = TRUE; |
283 | if(set) WPActive = TRUE; |
| 283 | else WPActive = FALSE; |
284 | else WPActive = FALSE; |
| 284 | } |
285 | } |
| 285 | 286 | ||
| 286 | Point_t* PointList_GetAt(u8 index) |
287 | Point_t* PointList_GetAt(u8 index) |
| 287 | { |
288 | { |
| 288 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
289 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
| 289 | else return(NULL); |
290 | else return(NULL); |
| 290 | } |
291 | } |
| 291 | 292 | ||
| 292 | Point_t* PointList_GetPOI(void) |
293 | Point_t* PointList_GetPOI(void) |
| 293 | { |
294 | { |
| 294 | return PointList_GetAt(POIIndex); |
295 | return PointList_GetAt(POIIndex); |
| 295 | } |
296 | } |
| 296 | 297 | ||
| 297 | 298 | ||